CN108506709A - The automatic stuffing device of sintering machine bogie wheels mechanical hand, control method and system - Google Patents
The automatic stuffing device of sintering machine bogie wheels mechanical hand, control method and system Download PDFInfo
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- CN108506709A CN108506709A CN201810299119.1A CN201810299119A CN108506709A CN 108506709 A CN108506709 A CN 108506709A CN 201810299119 A CN201810299119 A CN 201810299119A CN 108506709 A CN108506709 A CN 108506709A
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- stuffing
- wheel
- stuffing device
- mechanical hand
- pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16N—LUBRICATING
- F16N7/00—Arrangements for supplying oil or unspecified lubricant from a stationary reservoir or the equivalent in or on the machine or member to be lubricated
- F16N7/38—Arrangements for supplying oil or unspecified lubricant from a stationary reservoir or the equivalent in or on the machine or member to be lubricated with a separate pump; Central lubrication systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16N—LUBRICATING
- F16N2210/00—Applications
- F16N2210/14—Bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16N—LUBRICATING
- F16N2250/00—Measuring
- F16N2250/04—Pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16N—LUBRICATING
- F16N2270/00—Controlling
- F16N2270/70—Supply
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16N—LUBRICATING
- F16N2270/00—Controlling
- F16N2270/70—Supply
- F16N2270/72—Supply on-off
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application discloses the automatic stuffing device of sintering machine bogie wheels mechanical hand, control method and systems.Wherein, the automatic stuffing control method of sintering machine bogie wheels mechanical hand, contact whether the pressure value generated belongs to pressure security range with wheel by judging stuffing device, and judge whether the distance value between stuffing device and wheel belongs to apart from safe range, to determine whether stuffing device continues with stuffing hole, effectively connect.If the pressure value belongs to the pressure security range and the distance value belongs to described apart from safe range, determine that stuffing device is connect effectively with stuffing hole, at this point, control stuffing device stuffing, can ensure that stuffing process is smoothed out.
Description
Technical field
This application involves sintering pallet technical field more particularly to a kind of automatic stuffings of sintering machine bogie wheels mechanical hand
Device, control method and system.
Background technology
Sintering pallet is one of important component of sintering machine, and there are many quantity, and working environment is severe.Trolley is in sintering machine
Head is rearwardly run after filling mixing material along track, and mixing material outer surface is burnt in ignition furnace lower point and tied, in suction pressure
Under the action of, mixing material is sintered and extends downwardly, and in sintering machine tail portion, sintering process is completed and unloaded, and trolley is returned along track again
It returns.Sintering pallet moves under the support of wheel, to ensure that wheel bearing has stronger service life, need to periodically give trolley
The bearing of wheel fills grease.
The bogie wheels of typical structure include wheel body, bearing and trolley axis, and bearing is set in the end of trolley axis, wheel
Body is sheathed on bearing, and bearing inner race is equipped with lubrication mouth, and trolley axis is equipped with stuffing channel, and wheel body includes wheel plane,
The one end in stuffing channel is equipped with stuffing hole, and the other end is communicated with lubrication mouth, and plane where stuffing hole is wheel plane.Fig. 1 is shown
A kind of external structure of bogie wheels, stuffing hole 100 are located at the center of wheel plane 200 and protrude from wheel plane 200.
Fig. 2 is the partial enlarged view in stuffing hole shown in Fig. 1, and stuffing hole 100 is internally provided with sealing steel ball 300, is connected with after sealing steel ball
One spring 400, in the case that by ambient pressure, spring 400 will not seal steel ball 300 and be pushed out to 100 outside of stuffing hole, realization is close
Envelope acts on.In traditional stuffing method, staff holds stuffing rifle, first connects the stuffing hole of stuffing rifle and wheel, adds
Fat rifle is pressed inwardly into steel ball is sealed, then grease is injected stuffing channel by the lubricating pump by being connect with stuffing rifle, and then makes oil
Fat enters in bearing.
The development of the modernization of industry makes most of manual operation gradually be replaced by mechanical hand.Stuffing is carried out using mechanical hand
Operating process, it is necessary first to the stuffing hole of wheel is positioned, the position coordinates in stuffing hole is obtained, then controls mechanical hand
Stuffing device alignment stuffing hole is subjected to stuffing.
It is worth noting that, during above-mentioned mechanical hand stuffing, need to ensure that stuffing device and stuffing hole are lasting, effective
Ground connects, once stuffing hole and the position of stuffing device are staggered, alternatively, stuffing device fails the sealing steel ball on the outside of stuffing hole
Indentation, will be unable to normal stuffing.
Invention content
The application provides a kind of automatic stuffing device of sintering machine bogie wheels mechanical hand, automatic stuffing control method and is
System ensures that stuffing device continues with stuffing hole, effectively connect, so as to normal stuffing so that during mechanical hand stuffing.
In a first aspect, this application provides a kind of automatic stuffing control method of sintering machine bogie wheels mechanical hand, the machine
The end of device hand is connect with stuffing device, and this method includes：
It obtains stuffing device and contacts the pressure value generated with wheel, and, the distance value between the stuffing device and wheel；
Judge whether the pressure value belongs to pressure security range and whether the distance value belongs to apart from safe model
It encloses；
If the pressure value belongs to the pressure security range and the distance value belongs to described apart from safe range, control
Stuffing device stuffing processed.
Further, the pressure value generated is contacted with wheel in acquisition stuffing device, and, between the stuffing device and wheel
Before distance value, the method further includes：
Obtain the location information in wheel stuffing hole；
According to the location information, control mechanical hand end movement, so that stuffing device end and stuffing hole face.
Further, described according to location information, control mechanical hand end movement, so that stuffing device end and stuffing hole
After face, the method further includes：
Obtain the current speed of service and traffic direction of sintering pallet；
It controls the mechanical hand end to move with the current speed of service and traffic direction of sintering pallet, described in holding
Stuffing device and the stuffing hole are opposing stationary.
Further, the distance value between the stuffing device and wheel stuffing hole is the stuffing device and wheel stuffing hole institute
Wheel plane distance value.
Further, the method further includes：
If the distance value is more than the upper limit value apart from safe range, and the pressure value is not equal to 0,
Alternatively, the distance value belongs to described apart from safe range, and the pressure value is less than the pressure security range
Lower limiting value,
Alternatively, the distance value is less than the lower limiting value apart from safe range,
Then prompt the location information wrong；
The location information in wheel stuffing hole is reacquired, and, according to the location information of reacquisition, control mechanical hand end
End movement, so that stuffing device end and stuffing hole face.
Further, the method further includes：
If the distance value belongs to described apart from safe range, and the pressure value is more than the pressure security range
Upper limit value, prompting the sealing ball surfaces in the stuffing hole, there are foreign matters.
Further, the method further includes：
If the distance value is more than the upper limit value apart from safe range, and the pressure value is equal to 0, described in control
Mechanical hand end makes the stuffing device continue close to the stuffing hole.
Further, the method further includes：
The safe range of default stuffing device and vehicle tyre tread；
According to apart from safe range, determine that stuffing device contacts the safe range of the pressure generated with wheel.
By above technical scheme it is found that the automatic stuffing control of sintering machine bogie wheels mechanical hand provided by the embodiments of the present application
Method contacts whether the pressure value generated belongs to pressure security range with wheel by judging stuffing device, and judges stuffing
Whether the distance value between device and wheel belongs to apart from safe range, to determine that whether lasting stuffing device and stuffing hole be, effective
Ground connects.If the pressure value belongs to the pressure security range and the distance value belongs to described apart from safe range, really
Determine stuffing device to connect effectively with stuffing hole, at this point, control stuffing device stuffing, can ensure that stuffing process is smoothed out.
Second aspect, the embodiment of the present application provide a kind of automatic stuffing device of mechanical hand, including stuffing device and lubricating pump,
The stuffing device is connected to the lubricating pump, further includes：Pressure sensor and laser range finder；
The head end of the stuffing device is connect with mechanical hand end；
The pressure sensor is set between the stuffing device and the mechanical hand end；
The laser range finder is fixed on mechanical hand end, when the end of the stuffing device and stuffing hole face
When, the beam emissions direction of the laser range finder is vertical with plane where the stuffing hole.
By above technical scheme it is found that the automatic stuffing device of mechanical hand provided by the present application, including stuffing device and lubrication
Pump, the stuffing device are connected to the lubricating pump, while further including pressure sensor and laser range finder；Using the application
When the automatic stuffing device of mechanical hand executes currying, stuffing device is acquired by pressure sensor and contacts the pressure generated with wheel
Force value acquires the distance value between stuffing device and wheel by laser range finder, is controlled by controlling the movement of mechanical hand end
Stuffing device processed makes it be realized with stuffing hole and continuously and effectively connect, and completes the automatic stuffing to sintering machine bogie wheels
Journey.
The third aspect, the embodiment of the present application provide a kind of automatic stuffing control system of sintering machine bogie wheels robot, packet
The automatic stuffing device of mechanical hand described in the application second aspect is included, and is built in the automatic stuffing device of the mechanical hand or only
Erect the controller set；The controller is separately connected with mechanical hand, the pressure sensor and the laser range finder；
The stuffing device and lubricating pump, for injecting lubricating grease under the control of mechanical hand end for wheel；
The pressure sensor contacts the pressure value generated with wheel for acquiring stuffing device；
The laser range finder, for acquiring the distance value between stuffing device and wheel；
The controller, for judging whether the pressure value belong to pressure security range and the distance value
Belong to apart from safe range；
If the pressure value belongs to the pressure security range and the distance value belongs to described apart from safe range, control
Stuffing device stuffing processed.
By above technical scheme it is found that the automatic stuffing control of sintering machine bogie wheels mechanical hand provided by the embodiments of the present application
System acquires stuffing device by pressure sensor and contacts the pressure value generated with wheel, stuffing is acquired by laser range finder
Distance value between device and wheel is by judging whether collected pressure value belongs to pressure security range and distance value
It is no to belong to apart from safe range, to judge whether mechanical hand makes stuffing device continue with stuffing hole, effectively connect.If described
Pressure value belongs to the pressure security range and the distance value belongs to described apart from safe range, determines stuffing device and stuffing
Hole connection is effective, at this point, control stuffing device stuffing, can ensure that stuffing process is smoothed out.
Description of the drawings
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
Other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of external structure schematic diagram of bogie wheels；
Fig. 2 is the partial structural diagram of bogie wheels shown in Fig. 1；
Fig. 3 is a kind of sintering machine bogie wheels mechanical hand automatic stuffing control of the application shown according to an exemplary embodiment
Method flow diagram processed；
Fig. 4 (a) is a kind of technology schematic diagram of a scenario of the application；
Fig. 4 (b) is a kind of technology schematic diagram of a scenario of the application；
Fig. 4 (c) is a kind of technology schematic diagram of a scenario of the application；
Fig. 5 is the technology schematic diagram of a scenario of the method in the application positioning wheel stuffing hole；
Fig. 6 is the rectangular coordinate system schematic diagram according to scenario building shown in Fig. 5；
Fig. 7 is another sintering machine bogie wheels mechanical hand automatic stuffing of the application shown according to an exemplary embodiment
Control method flow chart；
Fig. 8 is a kind of structural representation of the automatic stuffing device of mechanical hand of the application shown according to an exemplary embodiment
Figure；
Fig. 9 is the structural representation of the automatic stuffing device of another mechanical hand of the application shown according to an exemplary embodiment
Figure.
Specific implementation mode
It is that a kind of sintering machine bogie wheels mechanical hand of the application shown according to an exemplary embodiment is automatic referring to Fig. 3
Stuffing control method flow chart, from the figure 3, it may be seen that this method includes：
Step 110, it obtains stuffing device and contacts the pressure value generated with wheel, and, between the stuffing device and wheel
Distance value；
In the application, mechanical hand control is directed at stuffing hole and sealing with the stuffing device (such as stuffing rifle) that its end connects
Steel ball, and stuffing hole and sealing steel ball are moved closer to, until stuffing device end contacts and with sealing steel ball gradually by steel ball pressure
Enter, at this point, stuffing device is contacted with wheel will generate stress.Optionally, the application collects the effect by pressure sensor
The size of power, i.e. pressure value described in above-mentioned steps 110, and by way of wired or wireless data transmission, be sent to interior
Controller set or independently arranged.
It is worth noting that, if stuffing device end and stuffing hole and the sealing non-face of steel ball, stuffing device end can
Pressure value can be also will produce with bogie wheels plane contact.
Meanwhile stuffing device move closer to stuffing hole and sealing steel ball during, between stuffing device and wheel away from
From can also change.Optionally, the application acquires the size of the distance value by rangefinder, such as laser range finder.It needs
Illustrate, when choosing different reference points on stuffing device and on wheel, the distance value measured is different.For example, when making
The beam emissions starting point of laser range finder and the head end flush of stuffing device (are equivalent to and choose its head end work on stuffing device
For reference point), make laser beam be vertically projected in plane of the wheel plane i.e. where stuffing hole (to be equivalent to and choose on wheel
Certain point in wheel plane is as a reference point) when, collected distance value can represent stuffing device head end and stuffing hole place
The distance of interplanar；
Preferably, the application is using the distance value between the wheel plane where stuffing device head end and wheel stuffing hole.
It should also be noted that, under the premise of stuffing device and stuffing hole face, if pressure sensor is collected
Pressure value is 0, illustrates that stuffing device end is not in contact with sealing steel ball at this time, stuffing device need to continue to close to sealing steel
It moves in the direction of pearl；If pressure value can be collected and gradually increased, illustrate stuffing device end at this time and sealing steel ball hair
Sealing steel ball is simultaneously gradually pressed by raw contact, meanwhile, in the process, the distance between stuffing device and wheel taper into.
Step 120, judge whether the pressure value belongs to pressure security range and whether the distance value belongs to distance
Safe range；
During stuffing device end is in contact with sealing steel ball and is gradually pressed into, pressure value can gradually increase
Greatly, distance value can be correspondingly gradually reduced.In fact, due to sealing steel ball be connected with a spring, stuffing device end with
The variation tendency for sealing the active force between steel ball is theoretically related to the spring ratio k of spring and deformation degree, still, due to
There are the other factors such as lubricating grease of remaining in inside, therefore, it is related that pressure value to spring force coefficient is not necessarily linear positive.Shen
It asks someone to test by multiple stuffing and find, realize with stuffing hole when stuffing device end and effectively connect, stuffing can be normally carried out
When (will not occur lubricating grease leakage situations such as), the pressure value and distance value will fluctuate in a safe range.On the contrary, working as
Stuffing device end and stuffing hole fail to realize effective connection, at least one value will not be fallen corresponding in pressure value and distance value
In the safe range on ground.For example, stuffing device end is not contacted with sealing steel ball, but arrive in wheel plane, alternatively, plus
Fat device end has been against in the stuffing outer wall of hole of protrusion, then alternatively, sealing ball surfaces have foreign matter to hinder currying
Etc., belong to stuffing device end not with stuffing hole realize effectively connect the case where, when serious, can also make stuffing device or even
Mechanical hand collides with wheel.
Therefore, technical scheme is by judging whether above-mentioned pressure value belongs to corresponding safe range with distance value,
Judge whether current stuffing device and stuffing hole realize effective connection, to controlling mechanical hand safety, successfully stuffing.
It should be noted that above-mentioned pressure security range has certain incidence relation with apart from safe range, though also,
When so choosing different reference points, collected distance value will be different, but these distance values can represent stuffing device with
Relative distance between wheel stuffing hole, therefore, for apart from safe range, it is also possible to have different numberical ranges.
It is understood that determining above-mentioned pressure security range and there are many ways to apart from safe range, particularly with
Determination apart from safe range, according to the difference of taken reference point, obtained numberical range is also different.Preferably, the application is logical
Following step is crossed to determine apart from safe range and pressure security range：
Step 210, the safe range of stuffing device and vehicle tyre tread is preset；
Assuming that using stuffing device head end between wheel plane at a distance from characterize the distance value between stuffing device and wheel,
Refering to Fig. 4 (a), the end 12 of stuffing device 1 and stuffing hole face at this time, but do not contacted with the sealing generation of steel ball 300, it gets
Distance value be D1, pressure value F1It is 0；Refering to Fig. 4 (b), on the basis of Fig. 4 (a), stuffing device end 12 is further towards adding
Fat hole is contacted with the sealing generation of steel ball 300, and the distance value got is D2, pressure value F2；Refering to Fig. 4 (c), in Fig. 4 (b) bases
On plinth, stuffing device end is further towards stuffing hole, and by sealing steel ball indentation, the distance value got is D3, pressure value is
F3, and operated according to practice, under the state shown in Fig. 4 (c), stuffing device end is effectively connect with the realization of stuffing hole, can be with
Safety, smoothly stuffing, lubricating grease do not leak outside.
Under the state shown in above-mentioned Fig. 4 (c), the distance between stuffing device head end and stuffing hole are finely tuned, and carry out stuffing
Operation can be obtained when distance value D is in (D3- d, D3+ d) in range when fluctuation, it is ensured that currying safety, smoothly into
Row.Meanwhile record range of pressure fluctuations corresponding with the range.
By the experimental result of above-mentioned experiment and acquisition, (D is preset3- d, D3+ d) be stuffing device and vehicle tyre tread peace
Gamut, meanwhile, it presets other and compares required parameter, such as whether pressure value is 0 etc..
Again in a step 220, according to apart from safe range, determine that stuffing device contacts the safety of the pressure generated with wheel
Range.
Above-described embodiment is continued to use, according to preset (D3- d, D3+ d), determine that corresponding range of pressure fluctuations is stuffing
Device contacts the safe range of the pressure generated with wheel.
It should be noted that using identical experimental method, pressure security range is set in advance, further according to pressure security model
It encloses and determines apart from safe range, belong to same technical concept with technical scheme, therefore, also belong to the protection model of the application
It encloses.
In the step 120, judge whether pressure value belongs to pressure security range and whether distance value belongs to distance safety
Area Results, it is possible that following several situations, for the convenience of description, the application divides two boundaries of pressure security range
Also known as it is the upper limit value and lower limiting value of pressure security range, will be referred to as apart from safe model apart from the two of safe range boundaries
The upper limit value and lower limiting value enclosed.
It should be noted that in order to avoid mechanical hand end collides with wheel, the application when carrying out analysis,
It is preferential judge distance value whether safe range, then judged again for pressure value.
Situation (1)：Pressure value and distance value belong to corresponding safe range；
It is effectively connect at this point, stuffing device is realized with stuffing hole, mechanical hand can carry out normal stuffing.
Situation (2)：Distance value is more than the upper limit value apart from safe range, pressure value 0；
At this point, stuffing device can not start stuffing, stuffing device should continue to wheel stuffing hole not in contact with to sealing steel ball
It is mobile.
Situation (3)：Distance value is more than the upper limit value apart from safe range, and pressure value is non-zero；
At this point, stuffing device end is not with stuffing hole face, stuffing device is contacted with wheel surface somewhere, such as protrudes vehicle
Take turns plane 200 100 outer wall of stuffing hole, can not normal stuffing, mechanical hand end, which should retreat, to avoid colliding with wheel.
Situation (4)：Distance value belongs to apart from safe range, and pressure value is more than the upper limit value of pressure security range；
At this point, stuffing device end and sealing steel ball mediate contact, sealing ball surfaces have foreign matter, it can not normal stuffing.
In fact, sealing ball surfaces lead to stuffing device end and sealing steel ball table since the presence of grease is easy to bonding foreign matter
The abnormal contact in face and generate stress.In this case, steel ball is gradually pressed by stuffing device, when distance value progressivelyes reach peace
When full distance range, and pressure value has been more than upper limit value.
Situation (5)：Distance value belongs to apart from safe range, and pressure value is less than the lower limiting value of pressure security range；
At this point, stuffing device end not with stuffing hole face, can not normal stuffing, mechanical hand should retreat, and avoid and wheel
Plane collides.For example, stuffing device end and laser beam are in same plane, under the control of mechanical hand, stuffing device
Safe range is progressed into, but since the stuffing hole of vehicle product plane, the pressure detected are protruded in the misalignment of stuffing device end
Force value is 0 or is less than safe range lower limiting value, if mechanical hand is close in continuation at this time, it would be possible that can be touched with wheel wall
It hits.
Situation (6)：Distance value is less than the lower limiting value apart from safe range；
At this point, stuffing device end not with stuffing hole face, can not normal stuffing, mechanical hand should retreat, and avoid and wheel
Plane collides.
Based on the above situation (1), in technical scheme step 130, if the pressure value belongs to the pressure peace
Gamut and the distance value belong to described apart from safe range, control stuffing device stuffing.
Stuffing device is equipped with switch, when opening switch, starts stuffing, when turning off the switch, stops stuffing.The application passes through
The closure of pneumatic device automatic control switch.
By above-described embodiment it is found that the automatic stuffing control method of sintering machine bogie wheels mechanical hand provided by the present application, leads to
It crosses and judges that stuffing device contacts whether the pressure value generated belongs to pressure security range with wheel, and judge stuffing device and vehicle
Whether the distance value between wheel belongs to apart from safe range, to determine whether stuffing device effectively connect with stuffing hole.If described
Pressure value belongs to the pressure security range and the distance value belongs to described apart from safe range, determines stuffing device and stuffing
Hole connection is effective, at this point, control stuffing device stuffing, can ensure that stuffing process is smoothed out.
It should be noted that above-mentioned stuffing device is contacted with wheel between the pressure value generated and stuffing device and wheel
Distance value, belonging to the premise of corresponding safe range is, stuffing device end and stuffing hole are sealed steel ball by mechanical hand in advance
Face.Therefore, in some preferred embodiments, before the application method above-mentioned steps 110, further include：
Step 100, the location information in wheel stuffing hole is obtained；
The very important link of the automatic stuffing of pallet is exactly to be positioned to stuffing hole, straight due to stuffing hole
Diameter is smaller, therefore positioning accuracy can influence the success rate of currying.
There are many ways to positioning to stuffing hole, in the present embodiment, by two laser range finders, to realize fortune
The positioning in the sintering machine bogie wheels stuffing hole in row.
Specifically, include the following steps：
Step 101, two laser range finders are erected in trolley track both sides, and records its installation site coordinate；
Refering to Fig. 5, after erecting two laser range finders 500, when not having wheel to pass through, laser beam is projected onto track
On 600, when there is wheel to pass through, laser beam will be incident upon on trolley week.
Step 102, according to the installation site coordinate of two laser range finders, structure rectangular coordinate system (refering to Fig. 6)；
Step 103, when laser beam projects on wheel, respectively according to the installation site coordinate of two laser range finders
And its distance value measured, determine the coordinate in incident point of the every laser range finder on wheel；
Wheel is reduced to a circle, stuffing hole position is the center of circle of the circle.When swashing for two laser range finders
The distance measured according to each laser range finder when light light beam is all fallen on wheel and its installation site coordinate, can be justified
The coordinate (point B and point C) of upper two laser projections point.
Step 104, the coordinate in the incident point according to radius of wheel and every laser range finder on wheel determines stuffing hole
Coordinate.
According to circle normal equation (x-x0)2+(y-y0)2=r2, center of circle O can be calculated, and stuffing hole site is in wheel
At the heart, therefore stuffing hole can be positioned by the above method.
By taking Fig. 6 as an example, it is assumed that wheel diameter 360mm, installation site, that is, light beam of a laser range finder DI-1 are sent out
The coordinate of position is origin O, apart from track 500mm, the installation site of another laser range finder DI-2 apart from track 500mm and
With First laser range finder DI-1 at a distance of 50mm, DI-2 coordinates are (50,0).When there is wheel to pass through, light beam that DI-1 is sent out
It is B in the incident point in wheel week, and the distance that DI-1 is measured at this time is d1, then the coordinate of B points is (0, d1), meanwhile, DI-2 is sent out
Light beam in the incident point in wheel week be C, and the distances that measure of DI-2 are d2, then the coordinate of C points is (50, d2).If wheel center
Coordinate, that is, center of circle of point is (x0, y0), it can be obtained according to round normal equation：
(0-x0)2+(d1-y0)2=1802 (1)
(50-x0)2+(d2-y0)2=1802 (2)
According to equation (1) and equation (2), it can be deduced that wheel center coordinate (x0, y0), i.e. the position coordinates in stuffing hole.
Herein described location information includes at least the stuffing hole coordinate information under preset coordinate system, namely sealing steel ball
Coordinate information.
After above-mentioned steps 100, according to the location information, control mechanical hand end movement, so that stuffing device end
End and stuffing hole face.
According to the location information in wheel stuffing hole and the current location of stuffing device end or mechanical hand end, it is fitted machine
The motion track of hand, according to the motion track of fitting, the movement of control mechanical hand end.
It is worth noting that, the application method is applicable not only to state when sintering pallet is shut down, apply also for simultaneously
State when sintering pallet is run.Sintering pallet joins end to end circular flow, removes the repair time, usually 24 is small
When run without interruption.The continuous service of trolley so that, to ensure that stuffing device and stuffing hole keep effectively connecting, also need
Control mechanical hand and stuffing device with the movement of wheel synchronizing moving, to keep stuffing device opposite with stuffing hole quiet
Only, so that this effective connection can continue.
Based on this, on the basis of the above embodiments, technical scheme further includes following step, is realized to trolley vehicle
Wheel does not shut down stuffing：
Step 310, the current speed of service and traffic direction of sintering pallet are obtained；
The pallet speed of service is slower, generally in 1.5m~4.5m/min, when sintering machine progress machine velocity modulation is whole, often
Secondary adjustment amplitude ＜ 0.2m/min, adjusting should not be frequent, twice 1 hour adjustment time ＞.Since the sintering machine speed of service changes
Infrequently, therefore the sintering machine speed of service can be directly measured, then controls mechanical hand end behind stuffing device alignment stuffing hole
It is moved horizontally with sintering machine with identical speed.
There are many ways to measuring the sintering machine speed of service, for example, measuring star-wheel rotating speed using tachometer generator to obtain
The sintering pallet speed of service.
In addition, on the basis of above-mentioned steps 101 to 104, can also according in certain time, central point move along the x-axis away from
From obtaining the speed of service of trolley.
It should be noted that there are two types of the traffic directions of trolley, if it is described from coordinate system angle, including along X-axis forward direction
With along X-axis negative sense.
Step 320, the mechanical hand end is controlled to move with the current speed of service and traffic direction of sintering pallet, with
Keep the stuffing device and the stuffing hole opposing stationary.
After obtaining the current speed of service V of trolley, the running orbit of mechanical hand end can be built：When wheel is along X-axis
When positive coordinate direction moves, then stuffing device changes in coordinates is (x during following0+ Vt, y0)；When wheel is along X-axis negative coordinate
When direction moves, then stuffing device changes in coordinates is (x during following0- Vt, y0).Wherein, stuffing hole coordinate is (x0,
y0), the time required to t is stuffing.
For not shutting down the technology scene of stuffing, it should be noted that the sequential of the present embodiment step 320 and other steps
Relationship does not constitute the restriction to the embodiment of the present application, in fact, step 320 should continuously carry out during stuffing, to protect
Card, during entire stuffing, stuffing device and wheel stuffing hole are opposing stationary always, and position is avoided to be staggered.
Technical scheme can contact the pressure value generated according to stuffing device with wheel, and, the stuffing device
Distance value between wheel, determines whether stuffing device realizes effective connection with stuffing hole, to ensure the currying of mechanical hand
It safely and conveniently carries out, simultaneously, moreover it is possible to when stuffing device is not implemented with stuffing hole and effectively connect, send out prompt or early warning, be
The next step control of mechanical hand provides foundation.
For example, in some preferred embodiments of the application, it is based on the above situation (3), (5) and (6), the application method is also
Include the following steps：
Step 140, if the distance value is more than the upper limit value apart from safe range, and the pressure value is not equal to
0,
Alternatively, the distance value belongs to described apart from safe range, and the pressure value is less than the pressure security range
Lower limiting value,
Alternatively, the distance value is less than the lower limiting value apart from safe range, prompt the location information wrong；
And execute above-mentioned 210 and 220, that is, the location information in wheel stuffing hole is reacquired, and, according to obtaining again
The location information taken, control mechanical hand end movement, so that stuffing device end and stuffing hole face.
The present embodiment method is contacted according to stuffing device and wheel at a distance between the pressure value generated, stuffing device and wheel
Value, can judge stuffing device end and stuffing hole whether face, if not, prompt and early warning will be sent out, and stop stuffing
Operation avoids the waste of occurrence of equipment collision and lubricating grease.
For another example, it is based on the above situation (4), the application method further includes following step：
Step 150, if the distance value belongs to described apart from safe range, and the pressure value is pacified more than the pressure
The upper limit value of gamut, prompting the sealing ball surfaces in the stuffing hole, there are foreign matters.
The present embodiment method is contacted according to stuffing device and wheel at a distance between the pressure value generated, stuffing device and wheel
Value can judge to seal ball surfaces whether with the presence of the foreign matter for causing stuffing obstacle, to prompt mechanical hand or work people
Member's object of removing obstacles in time, ensures being smoothed out for mechanical hand stuffing.
For another example, it is based on the above situation (2), the application method further includes following step：
Step 160, if the distance value is more than the upper limit value apart from safe range, and the pressure value is equal to 0,
Controlling the mechanical hand end makes the stuffing device continue close to the stuffing hole.
The present embodiment method is contacted according to stuffing device and wheel at a distance between the pressure value generated, stuffing device and wheel
Value, the current state for the stuffing device end that can judge to send as an envoy to, for example, be aligned, be close, be pressed into steel ball and
Indentation degree etc. provides foundation for the next step control of mechanical hand.
Fig. 7 shows that another preferred embodiment of the application control method, the embodiment include the following steps：
Step 01, the location information in wheel stuffing hole is obtained；
In the present embodiment, through the above steps 101 to 104, obtain the location information in wheel stuffing hole.
Step 02, according to the location information, control mechanical hand end movement, so that stuffing device end and stuffing hole are just
It is right；
According to the location information in wheel stuffing hole and the current location of stuffing device end or mechanical hand end, it is fitted machine
The motion track of hand, according to the motion track of fitting, the movement of control mechanical hand end.
Step 03, the current speed of service and traffic direction of sintering pallet are obtained；
For not shutting down the technology scene of stuffing, the application is based on above-mentioned steps 101 to 104, obtains sintering pallet
The current speed of service and traffic direction can also be obtained by other speed measuring equipments and method.
Step 04, the mechanical hand end is controlled to move with the current speed of service and traffic direction of sintering pallet, with
Keep the stuffing device and the stuffing hole opposing stationary；
The mobile, stuffing according to the location information in wheel stuffing hole, the current speed of service of sintering pallet and traffic direction
The current location of device end or mechanical hand end is fitted the motion track of mechanical hand, according to the motion track of fitting, control machine
It moves device hand end.
It should be noted that the present embodiment step 04 and the sequential relationship of other steps are not constituted to the embodiment of the present application
Restriction, in fact, step 04 should continuously carry out during stuffing, to ensure, during entire stuffing, stuffing device with
Wheel stuffing hole is opposing stationary always, and position is avoided to be staggered.
Step 05, obtain stuffing device contacted with wheel generation pressure value, and, between the stuffing device and wheel away from
From value；
The embodiment of the present application by be arranged the laser range finder in mechanical hand end measure between stuffing device and wheel away from
From value, stuffing device is measured by the pressure sensor being arranged between stuffing device head end and mechanical hand end and is contacted with wheel
The pressure value of generation, and by way of wired or wireless data transmission is sent to built-in or independently arranged controller.
Step 06, judge whether the pressure value belongs to pressure security range and whether the distance value belongs to distance
Safe range, if so, step 07 is executed, if not, executing step 08；
The application pre-sets pressure security range and distance controlling range and other compare required parameter, such as
Whether pressure value is 0 etc..
Step 07, stuffing device stuffing is controlled；
Stuffing device is equipped with switch, when opening switch, starts stuffing, when turning off the switch, stops stuffing.The application passes through
The closure of pneumatic device automatic control switch.
Step 08, judge whether the distance value and the pressure value meet：
The distance value is more than the upper limit value apart from safe range, and the pressure value is not equal to 0,
Alternatively, the distance value belongs to described apart from safe range, and the pressure value is less than the pressure security range
Lower limiting value,
Alternatively, the distance value is less than any one situation in the lower limiting value apart from safe range；If so, holding
Row step 09, if not, executing step 10；
Step 09, prompt the location information wrong, and, execute step 01；
Step 10, judge whether that the distance value belongs to described apart from safe range, and the pressure value is more than the pressure
The upper limit value of power safe range；If so, executing step 11, step 12 is executed if not；
Step 11, prompting the sealing ball surfaces in the stuffing hole, there are foreign matters；
In the present embodiment, the sealing ball surfaces that staff is prompted stuffing hole are cleared up different in time there are when foreign matter
Object ensures that stuffing device is smoothed out, extends the wheel bearing service life.
Step 12, judge whether that the distance value is more than the upper limit value apart from safe range, and described pressure value etc.
In 0；If so, executing step 13, or execute step 02；
Step 13, controlling the mechanical hand end makes the stuffing device continue close to the stuffing hole；
The automatic stuffing control method of sintering machine bogie wheels mechanical hand provided by the embodiments of the present application, by judging that stuffing fills
It sets whether the pressure value for contacting and generating with wheel belongs to pressure security range, and judges the distance value between stuffing device and wheel
Whether belong to apart from safe range, to determine whether stuffing device continues with stuffing hole, effectively connect.If the pressure value
Belong to the pressure security range and the distance value belongs to described apart from safe range, determines that stuffing device is connect with stuffing hole
Effectively, at this point, control stuffing device stuffing, can ensure that stuffing process is smoothed out.
Simultaneously, moreover it is possible to when stuffing device is not implemented with stuffing hole and effectively connect, send out prompt or early warning, be mechanical hand
Control provides foundation in next step.
The embodiment of the present application also provides a kind of automatic stuffing device of mechanical hand, referring to Fig. 8, the automatic stuffing device of the mechanical hand
Including stuffing device 1 and lubricating pump (not shown), the stuffing device 1 are connected to the lubricating pump, further include：Pressure
Sensor 3 and laser range finder 4；
The head end 11 of the stuffing device 1 is connect with mechanical hand end 2；
The pressure sensor 1 is set between the head end 11 and the mechanical hand end 2 of the stuffing device 1；
The laser range finder 4 is fixed on mechanical hand end 2, when the end 12 of the stuffing device 1 and the stuffing hole
When face, the beam emissions direction of the laser range finder 4 is vertical with plane where the stuffing hole.
The application is by being built in automatic stuffing device or independently arranged controller, to the mechanical hand of above structure
Automatic stuffing device and its switch are controlled.
Refering to preferred embodiment shown in Fig. 9, in device shown in Fig. 9, laser range finder is fixed on mechanical hand end, is made
Laser emission point is concordant with the head end 11 of stuffing device, therefore, in the present embodiment, laser range finder in mechanical hand end
Specific installation site should be depending on each part dimension of rangefinder, and the present embodiment does not limit.When the automatic stuffing of mechanical hand, controlling
Under the control of device, mechanical hand end 2 is moved, and makes stuffing device 1 and the sealing steel ball face on stuffing hole, close to stuffing hole, directly
It contacts and is pressed into sealing steel ball, after realizing effectively connection, open switch, start stuffing.It is controlled in mechanical hand end 2
During stuffing device 1 moves, pressure sensor 3 is responsible for continuous collecting stuffing device 1 and contacts the pressure value generated with wheel,
Laser range finder 4 is responsible for the distance value between continuous collecting stuffing device 1 and wheel, and by pressure value and distance value by wired or
The mode of wireless data transmission feeds back to controller.
According to the automatic stuffing device of above-mentioned mechanical hand and the automatic stuffing control method of sintering machine bogie wheels mechanical hand, this Shen
A kind of automatic stuffing control system of sintering machine bogie wheels robot is please also provided, the automatic stuffing of mechanical hand of above structure is included
Device, and it is built in the automatic stuffing device of the mechanical hand or independently arranged controller；The controller and the machine
Hand end, the pressure sensor and the laser range finder are separately connected；
The stuffing device and lubricating pump, for injecting lubricating grease under the control of mechanical hand end for wheel；
The pressure sensor contacts the pressure value generated with wheel for acquiring stuffing device；
The laser range finder, for acquiring the distance value between stuffing device and wheel；
The controller, for judging whether the pressure value belong to pressure security range and the distance value
Belong to apart from safe range；
If the pressure value belongs to the pressure security range and the distance value belongs to described apart from safe range, control
Stuffing device stuffing processed.
Further, the controller is additionally operable to, and obtains the location information in wheel stuffing hole；
According to the location information, control mechanical hand end movement, so that stuffing device end and stuffing hole face.
Further, the controller is additionally operable to, and obtains the current speed of service and traffic direction of sintering pallet；
It controls the mechanical hand end to move with the current speed of service and traffic direction of sintering pallet, described in holding
Stuffing device and the stuffing hole are opposing stationary.
Further, the controller is additionally operable to, if the distance value is more than the upper limit value apart from safe range, and
The pressure value is not equal to 0,
Alternatively, the distance value belongs to described apart from safe range, and the pressure value is less than the pressure security range
Lower limiting value,
Alternatively, the distance value is less than the lower limiting value apart from safe range,
Then prompt the location information wrong；
The location information in wheel stuffing hole is reacquired, and, according to the location information of reacquisition, control mechanical hand end
End movement, so that stuffing device end and stuffing hole face.
Further, the controller is additionally operable to, if the distance value belongs to described apart from safe range, and the pressure
Value is more than the upper limit value of the pressure security range, and prompting the sealing ball surfaces in the stuffing hole, there are foreign matters.
Further, the controller is additionally operable to, if the distance value is more than the upper limit value apart from safe range, and
The pressure value is equal to 0, and controlling the mechanical hand end makes the stuffing device continue close to the stuffing hole.
Further, the controller is additionally operable to, and presets the safe range of stuffing device and vehicle tyre tread；
According to apart from safe range, determine that stuffing device contacts the safe range of the pressure generated with wheel.
The automatic stuffing control system of sintering machine bogie wheels mechanical hand provided by the embodiments of the present application, passes through pressure sensor
Acquisition stuffing device contact with wheel generation pressure value, by laser range finder acquisition stuffing device between wheel at a distance from
Value, by judging whether collected pressure value belongs to pressure security range and whether distance value belongs to apart from safe range,
To judge whether mechanical hand makes stuffing device continue with stuffing hole, effectively connect.If the pressure value belongs to the pressure
Safe range and the distance value belong to described apart from safe range, determine that stuffing device is connect effectively with stuffing hole, at this point, control
Stuffing device stuffing processed can ensure that stuffing process is smoothed out.
In the specific implementation, the present invention also provides a kind of computer storage medias, wherein the computer storage media can store
There is program, step that some or all of which may include when executing in each embodiment of control method provided by the invention.Institute
The storage medium stated can be magnetic disc, CD, read-only memory (English：Read-only memory, referred to as：ROM) or with
Machine storage memory (English：Random access memory, referred to as：RAM) etc..
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of general hardware platform realize.Based on this understanding, the technical solution in the embodiment of the present invention substantially or
Say that the part that contributes to existing technology can be expressed in the form of software products, which can deposit
Storage is in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are used so that computer equipment (can be with
Be personal computer, server either network equipment etc.) execute certain part institutes of each embodiment of the present invention or embodiment
The method stated.
The same or similar parts between the embodiments can be referred to each other in this specification.Invention described above is real
The mode of applying is not intended to limit the scope of the present invention..
Claims (10)
1. a kind of automatic stuffing control method of sintering machine bogie wheels mechanical hand, end and the stuffing device of the mechanical hand connect
It connects, which is characterized in that including：
It obtains stuffing device and contacts the pressure value generated with wheel, and, the distance value between the stuffing device and wheel；
Judge whether the pressure value belongs to pressure security range and whether the distance value belongs to apart from safe range；
If the pressure value belongs to the pressure security range and the distance value belongs to described apart from safe range, control adds
Fat device stuffing.
2. according to the method described in claim 1, it is characterized in that, contacting the pressure generated with wheel obtaining stuffing device
Value, and, before the distance value between the stuffing device and wheel, the method further includes：
Obtain the location information in wheel stuffing hole；
According to the location information, control mechanical hand end movement, so that stuffing device end and stuffing hole face.
3. according to the method described in claim 2, it is characterized in that, described according to location information, control mechanical hand end is moved
Dynamic, so that stuffing device end is with after the face of stuffing hole, the method further includes：
Obtain the current speed of service and traffic direction of sintering pallet；
It controls the mechanical hand end to move with the current speed of service and traffic direction of sintering pallet, to keep the stuffing
Device and the stuffing hole are opposing stationary.
4. according to claim 1-3 any one of them methods, which is characterized in that the distance value between the stuffing device and wheel
For the distance value of the wheel plane where the stuffing device and wheel stuffing hole.
5. according to claim 1-3 any one of them methods, which is characterized in that the method further includes：
If the distance value is more than the upper limit value apart from safe range, and the pressure value is not equal to 0,
Alternatively, the distance value belongs to described apart from safe range, and the pressure value is less than under the pressure security range
Limit value,
Alternatively, the distance value is less than the lower limiting value apart from safe range,
Then prompt the location information wrong；
The location information in wheel stuffing hole is reacquired, and, according to the location information of reacquisition, control mechanical hand end is moved
It is dynamic, so that stuffing device end and stuffing hole face.
6. according to claim 1-3 any one of them methods, which is characterized in that the method further includes：
If the distance value belongs to described apart from safe range, and the pressure value is more than the upper limit of the pressure security range
Value, prompting the sealing ball surfaces in the stuffing hole, there are foreign matters.
7. according to claim 1-3 any one of them methods, which is characterized in that the method further includes：
If the distance value is more than the upper limit value apart from safe range, and the pressure value is equal to 0, controls the machine
Hand end makes the stuffing device continue close to the stuffing hole.
8. according to the method described in claim 1, it is characterized in that, the method further includes：
The safe range of default stuffing device and vehicle tyre tread；
According to apart from safe range, determine that stuffing device contacts the safe range of the pressure generated with wheel.
9. a kind of automatic stuffing device of mechanical hand, including stuffing device and lubricating pump, the stuffing device connects with the lubricating pump
It is logical, which is characterized in that further include：Pressure sensor and laser range finder；
The head end of the stuffing device is connect with mechanical hand end；
The pressure sensor is set between the stuffing device and the mechanical hand end；
The laser range finder is fixed on mechanical hand end, when the end of the stuffing device and the stuffing hole face, institute
The beam emissions direction for stating laser range finder is vertical with plane where the stuffing hole.
10. a kind of automatic stuffing control system of sintering machine bogie wheels robot, which is characterized in that including described in claim 9
The automatic stuffing device of mechanical hand, and be built in the automatic stuffing device of the mechanical hand or independently arranged controller；It is described
Controller is separately connected with mechanical hand, the pressure sensor and the laser range finder；
The stuffing device and lubricating pump, for injecting lubricating grease under the control of mechanical hand end for wheel；
The pressure sensor contacts the pressure value generated with wheel for acquiring stuffing device；
The laser range finder, for acquiring the distance value between stuffing device and wheel；
The controller, for judging whether the pressure value belongs to pressure security range and whether the distance value belongs to
Apart from safe range；
If the pressure value belongs to the pressure security range and the distance value belongs to described apart from safe range, control adds
Fat device stuffing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810299119.1A CN108506709B (en) | 2018-04-04 | 2018-04-04 | Automatic greasing device for wheel robot of sintering pallet, control method and system |
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| CN201810299119.1A CN108506709B (en) | 2018-04-04 | 2018-04-04 | Automatic greasing device for wheel robot of sintering pallet, control method and system |
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| CN108506709B CN108506709B (en) | 2021-03-05 |
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